CN104199330A - Emergency system and emergency method for underwater operation platform - Google Patents
Emergency system and emergency method for underwater operation platform Download PDFInfo
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- CN104199330A CN104199330A CN201410449999.8A CN201410449999A CN104199330A CN 104199330 A CN104199330 A CN 104199330A CN 201410449999 A CN201410449999 A CN 201410449999A CN 104199330 A CN104199330 A CN 104199330A
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Abstract
The invention discloses an emergency system for an underwater operation platform. The emergency system comprises an overwater emergency unit, an underwater emergency unit, an emergency cable unit and an emergency release unit. The emergency cable unit comprises an underwater emergency cable and an overwater emergency cable. The overwater emergency unit comprises an overwater emergency controller. The underwater emergency unit comprises an underwater emergency controller, a winch actuating mechanism and an air valve actuating mechanism. On the condition of malfunction, the emergency release unit releases a self-floating roller to connect the underwater emergency cable with the overwater emergency cable, so that an electric channel and a communication channel for the overwater emergency unit and the underwater emergency unit are built; the overwater emergency controller sends instructions to the underwater emergency controller so as to enable the winch actuating mechanism and the air valve actuating mechanism to drive the underwater operation platform to float to be collected. The invention further discloses an emergency method for the underwater operation platform. By the emergency system and the emergency method, the technical problem that conventional salvaging methods cannot be applied for emergency treatment of large underwater operation platforms is solved.
Description
Technical field
The invention belongs to underwater working device technical field, more specifically, relate to a kind of emergency system and emergency method thereof of underwater operation platform.
Background technology
Along with greatly developing of China's marine cause, underwater operation platform carries out the carrier of underwater test as underwater operation tool, and it is more and more widely used.Underwater operation platform adopts tension leg technology to locate under water, according to the platform stance information of related sensor feedback, by regulating underwater winch tension leg hawser wirerope length, the depthkeeping of implementation platform and the servocontrol of attitude.
But, underwater operation platform is in the environment very severe of deepwater work, often be faced with various danger, once face a danger, need job platform under timely recycle-water, because develop a platform, drop into a large amount of manpower, material resources and financial resources, and descended the data that water test obtains also to there is very big value at every turn.If because fault causes platform accident, will cause great loss, and be a heavy strike to ocean development and research.Therefore, the emergency processing measure of underwater operation platform after breaking down is also to become one of guardian technique of job platform development.At present, the mode of the domestic emergency processing method for underwater operation platform for salvaging, platform can not float automatically, this mode need to be transferred a large amount of manpower and materials, expend a large amount of financial resources, it is applicable to the small-sized objects such as underwater robot, for large-scale underwater operation platform, cannot be suitable for.
Summary of the invention
Above defect or Improvement requirement for prior art, the invention provides a kind of emergency system and emergency method thereof of underwater operation platform, its object is to provide a kind of emergency system and emergency method thereof of applicable Large Underwater job platform, underwater operation platform is in case of emergency carved in the time of automatically floating up to the water surface, without salvaging, solve thus the technical matters that traditional salvaging mode cannot be suitable for the emergency processing of Large Underwater job platform.
For achieving the above object, according to one aspect of the present invention, a kind of emergency system of underwater operation platform is provided, when underwater operation platform breaks down, be used for making underwater operation platform to float up to the water surface, it is characterized in that, comprise underwater emergency unit, emergency unit waterborne, when breaking down, connect emergent cable unit and the emergent releasing unit of underwater emergency unit and emergency unit waterborne, wherein
Emergency unit waterborne, it is arranged in the central station of floating dock of lash ship on the water surface, comprise emergency controller waterborne, the industrial computer waterborne and the emergency operation panel that are electrically connected with emergency controller waterborne respectively, by emergency operation panel input control order, this steering order is transferred to emergency controller waterborne, emergency controller waterborne by this command to underwater emergency unit, industrial computer waterborne is used for showing underwater platform status information, comprise platform's position and pose information, winch status information and warning message etc., and real-time storage operational order and feedback data;
Underwater emergency unit, it is arranged in the underwater control cabin of underwater operation platform, it comprises UPS (uninterrupted power source), underwater emergency controller, the Pose Control device being electrically connected with underwater emergency controller respectively, enter water discharge controller and winch controller, Pose Control device is for receiving the platform's position and pose information of the inclinator measurement that is installed on the depthometer of four jiaos, platform and is installed on platform center, and this information is fed back to water surface demonstration, enter water discharge controller for after job platform floats up to the water surface, controlling High-pressure air valve opens with to ballast tank draining, make platform continue float and weigh anchor, winch controller is for receiving the instruction from controller waterborne, control four winch actions, and feed back the motor pressure of winch, cable releasing speed, the status informations such as cable tension.Underwater emergency unit also comprises and enters the air valve topworks that enforcement High-pressure air valve that water discharge controller is electrically connected opens and closes and the winch topworks that stablizes cable laying with the enforcement winch that winch controller is electrically connected;
Emergent releasing unit, it is arranged on underwater operation platform, comprise with described underwater emergency unit in the electric actuating cylinder that is electrically connected of UPS, one end is run through by electric actuating cylinder end and the other end that is fixed is fixed on the restraining of underwater operation platform, and the certainly floating cylinder of band in bond binding;
Emergent cable unit, it comprises that one end is positioned at the waterborne emergent cable of emergent platform waterborne, one end is fixed on underwater emergency platform and is made self to be all wrapped in the described underwater emergency cable from floating cylinder by the other end by cable system;
When underwater emergency controller detects while there is power breakdown or communication failure between underwater operation platform and lash ship waterborne, by described UPS, making it send instruction to described underwater emergency controller power supply makes electric actuating cylinder rotation and discharges the restraining being fixed, after normal distribution breaks down, UPS can provide power supply, its sustainable power supply 3 hours, the releasing unit of guaranteeing to meet an urgent need is normally worked, floating because losing constraint from floating cylinder of band binding in bond, from floating cylinder, while floating, rotate the cable laying of realizing underwater emergency cable, after underwater emergency cable emerges with certainly floating cylinder, manually by underwater emergency cable and the docking of underwater emergency cable, so that its connection and can set up electric power and the communication transfer between lash ship and underwater operation platform, by the emergent cable after docking, by the command from emergency controller waterborne, give emergency controller under water, and further corresponding instruction is transferred to described winch controller so that winch topworks drives winch cable laying, realize underwater operation platform floating, thereby and further command adapted thereto is transferred to into water discharge controller so that air valve topworks drives High-pressure air valve to open after underwater operation platform being emerged to ballast tank draining weighs anchor, realize Emergency recovery.
Further, described emergency cable waterborne and underwater emergency cable comprise power lead and a pair of Shielded Twisted Pair, and communication and power channel can be provided simultaneously, and described power lead is that equivalent cross-sectional area is 6mm2 three-core structure, the high-tension electricity of its applicable 380V.
Further, described emergent cable unit also comprises and emergent junction box waterborne, for being merged into, communication cable and service cable provide the waterborne emergent cable of communicating by letter with electric power simultaneously, also comprise and underwater emergency junction box, for will provide the underwater emergency cable of communication and electric power to be divided into service cable and communication cable simultaneously.
Further, also comprise the underwater emergency power distribution cabinet being electrically connected with underwater emergency junction box, it is installed in underwater control cabin, for being to the local distribution that needs electricity consumption of described underwater emergency unit by the voltage transitions of the service cable of underwater emergency junction box separation after 220V.
According to another aspect of the present invention, a kind of emergency method of underwater operation platform is also provided, when underwater operation platform breaks down, make system as above work in time and realize water job platform and steadily reclaim in time, it is characterized in that, when underwater emergency controller detects while there is power breakdown or communication failure between underwater operation platform and lash ship waterborne, in 5～60 minutes, cannot recover, described underwater emergency controller discharges described electric actuating cylinder automatically to be made from floating cylinder floating, realize described emergent cable waterborne and the docking of described underwater emergency cable, to set up communication and power channel.
Further, in described underwater operation platform floating-upward process, by described platform's position and pose controller acquisition platform attitude and depth information, thereby and according to this information manual shift winch cable releasing speed, regulate platform ascent rate; When underwater operation platform floats up to after the water surface, open High-pressure air valve and the draining of underwater operation load of platform water tank is surfaced to realize underwater operation platform deck; Then tension windlass is carried out to mechanical caging, continue ballast tank to carry out draining, make platform continue float and weigh anchor, realize underwater operation platform and emerge completely.
Further, adopt three kinds of winchman's operation modes to regulate cable releasing speed:
Pattern one is for set respectively the proportional throttle valve aperture of each winch by the knob of each winch, thereby adjustment of tonicity winch motor recycle muzzle pressure is controlled motor rotary speed, by controlling unified each tension windlass of controlling of enable button, moves.In floating-upward process, according to platform ascent rate and attitude, regulate in real time proportional throttle valve aperture, guarantee the platform recovery of steadily floating;
Pattern two pattern for adopting under pattern one failure conditions, thus by controlling the switching throttling valve of each winch, control tension windlass cable laying, the implementation platform recovery of steadily floating;
The pattern that pattern three adopts for pattern two failure conditions, stops by controlling each tension windlass brake point, the implementation platform recovery of steadily floating.Also, winchman's operation mode has priority orders, and the priority of pattern one is greater than the priority of pattern two, and the priority of pattern two is greater than the priority of pattern three, and the described emergency operation panel by emergency unit waterborne carries out the selection of corresponding modes.
Underwater operation platform emergency system in the present invention can detect with communicating by letter in real time to the electric power of underwater operation platform, once break down, underwater emergency controller controls to discharge from floating cylinder automatically, after it emerges, complete emergent cable docking, set up emergency communication passage and power channel, by emergency unit receiving platform posture information waterborne, according to the status information of platform's position and pose, send winch steering order and realize the accurate remote control to the emergent floating of platform, the object of final implementation platform safety and steady floating.
In general, the above technical scheme of conceiving by the present invention compared with prior art, can obtain following beneficial effect:
1, underwater operation platform emergency system provided by the invention, can carry out electric power and communication failure and detect, when breaking down, system discharges automatically from floating cylinder, and its automaticity is high, the promptness that has ensured the emergent decision-making of platform, has realized the Emergency recovery to Large Underwater job platform.
2, the present invention pins fixedly restraining and guarantees that it does not discharge by being arranged on pressurized strut on platform from floating cylinder, when emergency procedure starts, electric actuating cylinder is decontroled restraining under driven by power, emergent certainly floating cylinder rotates and realizes cable laying while floating, releasing mechanism is simple in structure, and reliability is high.
3, the present invention is directed to the residing emergency rating of platform, design three kinds of winchman's operation modes, also be three kinds of Emergency recovery patterns, three kinds of contingency modes are independent of each other mutually, during a kind of mode failures even, can select another, make emergency system safer more reliable, especially pattern one can accurately be controlled ascent rate, has stronger controllability.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the emergency system that provides of the embodiment of the present invention;
Fig. 2 is the emergent releasing unit structural representation that the embodiment of the present invention provides;
Fig. 3 is the emergent distribution schematic diagram that the embodiment of the present invention provides.
1-emergency unit 11-waterborne industrial computer 12-waterborne emergency controller waterborne
13-emergency operation panel
The emergent cable of the emergent cable unit 21-emergent junction box 22-waterborne of 2-
23-underwater emergency junction box 221-emergent cable 222-underwater emergency cable waterborne
3-underwater emergency unit 31-underwater emergency controller 32-platform's position and pose controller
33-enters water discharge controller 34-winch controller 331-air valve topworks
341-winch topworks
The 4-releasing unit 41-electric actuating cylinder 42-restraining of meeting an urgent need
43-is from floating cylinder
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
Fig. 1 is the theory diagram of the emergency system that provides of the embodiment of the present invention.As shown in Figure 1, a kind of underwater operation platform emergency system comprises emergency unit 1 waterborne, emergent cable unit 2, underwater emergency unit 3, and emergency unit 1 waterborne is connected by emergent cable unit 2 with underwater emergency unit 2.In this example, emergency unit 1 waterborne comprises industrial computer 11 waterborne, emergency controller waterborne 12, emergency operation panel 13.Unit 1 waterborne is arranged in surface mother ship central station of floating dock, emergency controller 12 waterborne is selected Siemens PLC C, emergency controller waterborne is connected with industrial computer 11 waterborne by 232 communications, the aobvious control program of the industrial computer 11 operation water surface waterborne, and real-time storage operational order and feedback data, also, in order to show underwater platform status information, underwater platform status information comprises platform's position and pose information, winch status information and warning message etc.By emergency operation panel 13 input control orders, by Ethernet, command is arrived to emergency controller 12 waterborne, emergency controller 12 waterborne arrives underwater emergency controller 31 by emergent RS485 by command, because RS485 communication has long distance of signal transmission, the advantage of strong interference immunity, thus under case of emergency preferred this transmission mode.31 pairs of steering orders that receive of underwater emergency controller unpack with verification after send to platform's position and pose controller 32, enter water discharge controller 33 and winch controller 34.Platform's position and pose controller 32 receives the depthometer that is installed on four jiaos, platform and the information that is installed on the inclinator at platform center, and this inclinator both can have been measured heeling angle also can measure trim angle, the platform's position and pose information of measurement is fed back to industrial computer 11 waterborne and show.Enter water discharge controller 33 and float up to the water surface for treating job platform, control and open High-pressure air valve to ballast tank draining, make platform continue floating and weigh anchor.Winch controller 34 is for receiving steering order, controls four winches actions that are positioned at four jiaos, the present embodiment underwater operation platform, and feeds back the status informations such as motor pressure, cable releasing speed, cable tension of winch.Each controller is decoded to operational order, controls corresponding topworks's action.Enter water discharge controller 33 and control 331 actions of air valve topworks, so that the High-pressure air valve of ballast tank is opened, to realize after the draining of underwater operation platform floats up to the water surface, weigh anchor.Winch controller 34 is controlled 341 actions of winch topworks, stablizes cable laying implementation platform steadily float by control winch.Simultaneously, platform's position and pose controller 32, enter water discharge controller 33, winch controller 34 and feed back the platform status information that, by Ethernet under water, be transferred to underwater emergency controller 31, by 31 verifications of underwater emergency controller, close bag, by emergent cable 22, send to emergency controller 12 waterborne, industrial computer waterborne 11 receive by emergency controller 12 waterborne, forwarded about the information at the platform degree of depth and inclination angle, the information of the status information of winch, the remote control of High-pressure air valve valve etc., and show by industrial computer 11 display screens waterborne.
Fig. 2 is emergent releasing unit 4 structural representations that the embodiment of the present invention provides, emergent releasing unit 4 is arranged on underwater operation platform, electric actuating cylinder 41 is connected with cable with the UPS in underwater emergency unit 3, restraining 42 one end are run through and are fixed by electric actuating cylinder 41 ends, the other end is fixed on underwater operation platform, and certainly floating cylinder 43 is in bond with 42 bindings.Wherein from floating cylinder 43, by buoyant material, made, after certainly floating cylinder 43 enters water, be certain positive buoyancy.Underwater emergency cable 222 one end are fixed on underwater operation platform by cable grip, and from the other end, start to be all wrapped in described from floating cylinder 43, and its one end is fixed on underwater operation platform, and remainder is all wrapped on floating cylinder.When platform is normally worked, the electric actuating cylinder 41 being arranged on platform pins the fixing restraining 42 from floating cylinder, guarantee that it does not discharge, once emergency procedure starts, electric actuating cylinder 41 is subject to driven by power and rotates to decontrol restraining 42, from floating cylinder 43, start floating, emergent cable 22 one end are fixed on underwater operation platform by cable grip, while the other end is realized cable laying because certainly floating cylinder 43 floats to rotate.Until arriving after the water surface from floating cylinder, manually by the waterborne emergent cable 221 on lash ship and 222 docking of the underwater emergency cable on floating cylinder.
Emergent junction box 21 waterborne is merged into emergent cable 221 waterborne by the RS485 telecommunication cable of lash ship central station of floating dock and switchgear building 380V emergency service cable, emergent cable 221 waterborne is connected by watertight connector with underwater emergency cable 222, underwater emergency junction box 23 is arranged in underwater control cabin, it is connected to underwater emergency cable 222 near the end of underwater operation platform, for will provide the underwater emergency cable 222 of communication and electric power to be divided into service cable and communication cable simultaneously, the 380V emergency service that is about to emergent cable 22 transmission is connected to emergent power distribution cabinet, give each device power supply under water, RS485 communication cable is connected to underwater emergency controller 31, set up underwater communication passage waterborne.
The emergency service principle of underwater operation platform as shown in Figure 3, when distribution breaks down under water, Remote combined floodgate/disjunction cannot recover, now, each controller and electric actuating cylinder 41 are powered and still can be maintained normal work by UPS under water, but all power-off of topworks.System automatic decision discharges from floating cylinder 43, set up underwater communication passage waterborne and power channel, distribution transfers the 380V emergency service that lash ship waterborne provides to, by emergent junction box 21 waterborne, through emergent cable 22, be transferred to underwater emergency junction box 23, be connected to emergent power distribution cabinet under water, by emergent power distribution cabinet transformation, be 220V, to UPS charging and to each controller and topworks's power supply under water.
Emergency system is according to the emergency condition of platform, there are three kinds of winchman's operation modes, pattern one: by four knob preset proportion throttle valve openings in winch hydraulic control system, thereby adjustment of tonicity winch motor recycle muzzle pressure, control motor rotary speed, by controlling four tension windlass of the unified control of enable button, move; Pattern two: under pattern one failure conditions, switch to pattern two, control tension windlass cable laying by controlling four switching throttling valves of winch hydraulic system; Pattern three: under pattern two failure conditions, switch to pattern three, by controlling four tension windlass brake points, stop, the implementation platform recovery of steadily floating, the winchman who is undertaken under corresponding contingency mode by emergency operation panel 13 according to certain priority operates, be that pattern one priority is greater than pattern two priority, pattern two priority are greater than pattern three priority.
In platform floating-upward process, the platform stance and the depth information that according to platform's position and pose controller 32, gather, manually determine winchman's operation mode and platform ascent rate, guarantees that platform safety rises to the water surface stably.Simultaneously, underwater emergency controller 31 is sent to water surface industrial computer 11 by the platform degree of depth, attitude, treat that job platform floats up to the water surface, open High-pressure air valve draining to platform deck and surface, four winches are carried out to mechanical caging, just only tension windlass is locked herein, do not relate to anchoring winch, continue to open High-pressure air valve ballast tank is carried out to draining, make platform continue float and weigh anchor, last platform emerges completely, thereby realizes the Emergency recovery to underwater operation platform.
When underwater emergency controller 31 detects while there is power breakdown or communication failure between underwater operation platform and lash ship waterborne, in 5～60 minutes, cannot recover, described underwater emergency controller 31 discharges described electric actuating cylinder 41 automatically to be made from floating cylinder 43 floatings, realize described emergent cable 221 waterborne and 222 docking of described underwater emergency cable, to set up communication and power channel.The definite of this time is to determine according to the actual conditions such as size of sea area condition and underwater operation platform, when underwater operation platform, the degree of depth is more shallow under water, when marine site is all right, the longlyest can in one hour, cannot recover to make its Emergency recovery again, otherwise, need to reclaim as early as possible.
In the middle of reality, lash ship waterborne is connected with optoelectronic composite cable with underwater operation platform, by optoelectronic composite cable transferring electric power with communicate by letter, but after breaking down, this optoelectronic composite cable can not transferring electric power and has been communicated, now, enable underwater emergency system provided by the invention, make emergent cable 221 waterborne and 222 docking of underwater emergency cable, to set up communicating by letter and power channel between another lash ship waterborne and underwater operation platform, and by emergency operation panel 13 input instructions waterborne, emergent cable 22 by emergency controller 12 waterborne and docking passes to underwater emergency controller 31 by instruction again, make underwater manipulator to 341 work of the corresponding air valve 331He of topworks winch topworks, realize underwater operation platform floating, this ascent rate generally can be 0.3m/min.Also by underwater platform Pose Control device 32, gather the attitude information of underwater operation platforms, and this information exchange is crossed to emergent cable 22 and emergency controller waterborne 12 feeds back to industrial computer 11 waterborne, make staff can know in real time the state of underwater operation platform.And, after breaking down, but emergent cable 221 waterborne and underwater emergency cable 222 be not also to the stage connecting, by UPS, need the place of electricity consumption to power to emergency controller 31 and electric actuating cylinder 41 etc. under water, the sustainable power supply of UPS 3 hours can guarantee completely to float on the water surface from floating cylinder 43 in 3 hours.After 22 docking of emergent cable, from the electric power of lash ship waterborne, can also charge to UPS, make its deposit electric weight.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. the emergency system of a underwater operation platform, when underwater operation platform breaks down, be used for making underwater operation platform to float up to the water surface, it is characterized in that, comprise underwater emergency unit, emergency unit waterborne, connect the emergent cable unit of underwater emergency unit and emergency unit waterborne when breaking down and the emergent releasing unit of release signal when breaking down, wherein
Emergency unit waterborne (1), it is arranged in the central station of floating dock of lash ship on the water surface, comprise emergency controller waterborne (12), the industrial computer waterborne (11) and the emergency operation panel (13) that are electrically connected with emergency controller waterborne (12) respectively, described emergency operation panel (13) is for input control order, described industrial computer waterborne (11) is for showing the information transmitting from described emergency controller waterborne (12), and real-time storage operational order and feedback data;
Underwater emergency unit (3), it is arranged in the control cabinet of underwater operation platform, it comprises UPS, underwater emergency controller (31), respectively with underwater emergency controller (31) be electrically connected for controlling in real time the platform's position and pose controller (32) of underwater operation platform stance, control the winch controller (34) that enters water discharge controller (33) and control winch folding and unfolding cable that underwater operation load of platform water tank enters draining, also comprise and the air valve topworks (331) of entering enforcement High-pressure air valve that water discharge controller is electrically connected and opening and closing, and the winch topworks (341) that stablizes cable laying with the enforcement winch that winch controller (34) is electrically connected,
Emergent releasing unit (4), it is arranged on underwater operation platform, comprise with described underwater emergency unit in the electric actuating cylinder (41) that is electrically connected of UPS, one end is run through by electric actuating cylinder end and the other end that is fixed is fixed on the restraining (42) of underwater operation platform, the certainly floating cylinder (43) of band binding in bond;
Emergent cable unit (2), it waterborne emergent cable (221), one end that comprises that one end is positioned at emergent platform waterborne is positioned at underwater emergency platform and makes self to be all wrapped in the described underwater emergency cable (222) from floating cylinder (43) by the other end;
When underwater emergency controller (31) detects while there is power breakdown or communication failure between underwater operation platform and lash ship waterborne, by described UPS, make it send instruction and make electric actuating cylinder (41) rotation be run through fixing restraining (42) to discharge to described underwater emergency controller (31) power supply, certainly the floating cylinder (43) of band binding in bond floats because losing constraint, from floating cylinder (43), while floating, rotate the cable laying of realizing underwater emergency cable (222), after underwater emergency cable (222) emerges with certainly floating cylinder (43), manually emergent cable waterborne (221) and underwater emergency cable (222) docking are formed to the emergent cable (22) being communicated with, set up electric power and communication transfer between lash ship and underwater operation platform, by emergent cable (22), will give emergency controller (31) under water from the command of emergency controller waterborne (12), and further corresponding instruction is transferred to described winch controller (34) so that winch topworks (341) drives winch cable laying, realize underwater operation platform floating, and further command adapted thereto is transferred to into water discharge controller (33) so that air valve topworks (331) thus drive High-pressure air valve to open to ballast tank draining, underwater operation platform to be emerged, realize Emergency recovery.
2. the emergency system of a kind of underwater operation platform as claimed in claim 1, it is characterized in that, described emergency cable waterborne (221) and underwater emergency cable (222) comprise power lead and a pair of Shielded Twisted Pair, communication and power channel can be provided simultaneously, and described power lead is that equivalent cross-sectional area is the three-core structure of 6mm2.
3. the emergency system of a kind of underwater operation platform as claimed in claim 1 or 2, it is characterized in that, described emergent cable unit (2) also comprises emergent junction box waterborne (21), it is connected to emergent cable waterborne (221) near the end of lash ship waterborne, for communication cable and service cable are merged into the waterborne emergent cable (221) of communicating by letter with electric power can be provided simultaneously, also comprise underwater emergency junction box (23), it is connected to underwater emergency cable (222) near the end of underwater operation platform, for will provide the underwater emergency cable (222) of communication and electric power to be divided into service cable and communication cable simultaneously.
4. the emergency system of a kind of underwater operation platform as claimed in claim 3, it is characterized in that, also comprise the underwater emergency power distribution cabinet being electrically connected with underwater emergency junction box (23), it is installed in underwater control cabin, for being to the local distribution that needs electricity consumption of described underwater emergency unit by the voltage transitions of the service cable of underwater emergency junction box separation after 220V.
5. the emergency method of a underwater operation platform, when underwater operation platform breaks down, make the system work in time as described in one of claim 1-4 and realize water job platform and steadily reclaim, it is characterized in that, when underwater emergency controller detects while there is power breakdown or communication failure between underwater operation platform and lash ship waterborne, in 5～60 minutes, cannot recover, the described described electric actuating cylinder of the automatic control of underwater emergency controller rotates to discharge from floating cylinder and makes its floating, realize described emergent cable waterborne and the docking of described underwater emergency cable, to set up communication and power channel.
6. the emergency method of a kind of underwater operation platform as claimed in claim 5, it is characterized in that, in described underwater operation platform floating-upward process, by described platform's position and pose controller acquisition platform attitude and depth information, thereby and according to this information manual shift winch cable releasing speed, regulate platform ascent rate; When underwater operation platform floats up to after the water surface, open High-pressure air valve and the draining of underwater operation load of platform water tank is surfaced to realize underwater operation platform deck; Then tension windlass is carried out to mechanical caging, continue ballast tank to carry out draining, make platform continue floating and weigh anchor, realize underwater operation platform and emerge completely.
7. the emergency method of a kind of underwater operation platform as described in claim 5 or 6, is characterized in that, adopts three kinds of winchman's operation modes to regulate cable releasing speed, wherein,
Pattern one is for passing through to set the proportional throttle valve aperture of winch hydraulic system, thereby adjusting winch motor recycle muzzle pressure is controlled motor rotary speed, thereby regulates cable releasing speed;
The switching throttling valve that pattern two is control winch hydraulic system is to control winch cable releasing speed;
Pattern three is for stopping by controlling winch brake point, thus the cable releasing speed of control winch.
8. the emergency method of a kind of underwater operation platform as claimed in claim 7, it is characterized in that, winchman's operation mode has priority orders, the priority of pattern one is greater than the priority of pattern two, the priority of pattern two is greater than the priority of pattern three, and the described emergency operation panel by emergency unit waterborne carries out the selection of corresponding modes.
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| CN201410449999.8A CN104199330A (en) | 2014-09-04 | 2014-09-04 | Emergency system and emergency method for underwater operation platform |
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| CN201410449999.8A CN104199330A (en) | 2014-09-04 | 2014-09-04 | Emergency system and emergency method for underwater operation platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105259901A (en) * | 2015-11-18 | 2016-01-20 | 上海海事大学 | Autonomous underwater robot formation operation control system and operation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105259901A (en) * | 2015-11-18 | 2016-01-20 | 上海海事大学 | Autonomous underwater robot formation operation control system and operation method thereof |
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Application publication date: 20141210 |